A device for spraying a surface of a vehicle

Abstract

The application provides a car surface spraying device and relates to the technical field of spraying, which comprises a base, a column frame structure arranged on the base, a coating mechanism arranged on the column frame structure, two first electric sliding rails and a second electric sliding rail, the two first electric sliding rails are symmetrically arranged on the base with respect to a vertical center line of the base, two ends of the second electric sliding rail are fixed on guide blocks of the first electric sliding rails, the first electric sliding rails drive the second electric sliding rail to move along the vertical center line, and the side wall of the second electric sliding rail is provided with a sliding groove, and the sliding groove is provided with a driving part and the coating mechanism. The car surface spraying device is characterized in that a gear column is driven to rotate in a gear groove by a first motor, the position of a corresponding mechanical arm is adjusted, after the position error of the two spraying guns reaches a specified value, a corresponding vehicle model is input, a spraying track is introduced, and the two mechanical arms start to symmetrically move to perform spraying, so that the spraying effects of the two sides of the vehicle are consistent.

Description

TECHNICAL FIELD

[0001] The application relates to the field of spraying technology, and particularly relates to a vehicle surface spraying device. BACKGROUND

[0002] During vehicle processing, the whole vehicle frame is coated, dried and cooled to form a vehicle coat, thereby protecting the vehicle.

[0003] A patent of China, with the announcement number CN211613217U, discloses a device for processing automobile carbon fiber surface paint spraying, which comprises a spraying box, the spraying box is arranged as a rectangular box body, and a feeding port is arranged on one side end face, a closing door is arranged outside the feeding port, a set of storage boxes are fixed on the outer wall of the other side end face of the spraying box, a set of baking devices are arranged on the top surface of the spraying box, a set of spraying devices are arranged below the baking devices, the moving plate reciprocates in the spraying box, so that the paint is uniformly attached to the surface of the automobile carbon fiber, the uniformity of coating is improved, the surface of the automobile carbon fiber after spraying is placed on the placing plate, the surface of the automobile carbon fiber is baked by hot air, the first lead screw is driven to rotate by the first motor, the baking box is driven to reciprocate by the transmission of the first lead screw and the first threaded sleeve, the surface of the automobile carbon fiber is uniformly baked, and the paint is quickly and efficiently attached to the surface of the automobile carbon fiber.

[0004] When facing different needs, the paint used for coating the vehicle coat is not the same, and the most demanded paint on the market is mostly divided into two types, namely oil-based paint and water-based paint, the two types of physical properties are different, and the types of spraying guns required are also different, the above-mentioned device lacks a structure for replacing the spraying gun when facing different paints, and when the vehicle is repainted, the vehicle needs to be opened into the coating area, and due to the slight error in the opening mode, accurate positioning cannot be achieved, the distance between the two spraying guns cannot be kept consistent, and different effects may be caused on the two sides. SUMMARY

[0005] The application provides a vehicle surface spraying device, which solves the problem that the paint used for coating the vehicle coat is not the same, the most demanded paint on the market is mostly divided into two types, namely oil-based paint and water-based paint, the two types of physical properties are different, the types of spraying guns required are also different, the above-mentioned device lacks a structure for replacing the spraying gun when facing different paints, and when the vehicle is repainted, the vehicle needs to be opened into the coating area, and due to the slight error in the opening mode, accurate positioning cannot be achieved, the distance between the two spraying guns cannot be kept consistent, and different effects may be caused on the two sides.

[0006] The application provides the following technical scheme to solve the above technical problems: a car surface spraying device, comprising a base, a column frame structure arranged on the base, and a coating mechanism arranged on the column frame structure, wherein the column frame structure comprises two first electric sliding rails and a second electric sliding rail, the two first electric sliding rails are arranged on the base in a vertical center line symmetry mode, the two ends of the second electric sliding rail are fixed on the guide blocks of the first electric sliding rails respectively, the first electric sliding rails drive the second electric sliding rail to move along the vertical center line, the side wall of the second electric sliding rail is provided with a sliding groove, the sliding groove is provided with a driving part and the coating mechanism, the driving part drives the coating mechanism to reciprocate in the sliding groove, the top wall of the second electric sliding rail is provided with a guide groove, a 3D camera is arranged in the guide groove, and the second electric sliding rail drives the 3D camera to move in the guide groove, and the base is provided with a sensing area between the two first electric sliding rails, which is used for detecting the position of the car in the column frame structure, and a spray pot replacing mechanism is further arranged on the base.

[0007] Preferably, the coating mechanism comprises a mounting seat, the driving part comprises a first motor and a tooth column, the output shaft of the first motor is fixed with the tooth column, the sliding groove is provided with a tooth groove, and the tooth column is connected in the tooth groove in a meshing mode; and the first motor drives the mounting seat to move in the tooth groove.

[0008] Preferably, the coating mechanism further comprises a mechanical arm, the mechanical arm is arranged on the mounting seat, the bottom of the mechanical arm is provided with an output end, and the output end is provided with a spray gun on both sides.

[0009] Preferably, the output end is rotatable at both ends, and a separator is arranged on both sides of the output end.

[0010] Preferably, the spray gun for spraying oil-based paint is provided with a first nozzle at the output port, the separator is an oil-water separator, the spray gun for spraying water-based paint is provided with a second nozzle at the output port, and the separator is a centrifugal separator.

[0011] Preferably, the side wall of the spray gun extends a support, the top end of the support is provided with a support base, a spray pot is detachably connected to the support base, the spray pot is a container for containing paint, the upper end of the spray pot is provided with a detachable pot cover, the lower end of the spray pot is provided with an external thread, the inner wall of the support base is provided with an internal thread, the external thread and the internal thread are meshed with each other, the bottom of the spray pot is provided with a discharge port, the discharge port is provided with a discharge valve, the discharge port and a through hole are matched with each other, and the tail end of the through hole is arranged on the output port of the spray gun.

[0012] As preferred, the replacement spray pot mechanism comprises a mounting plate fixed on the base, an electric guide rail mounted on the mounting plate, a linear module mounted on the electric guide rail, the electric guide rail drives the linear module to move horizontally left and right, a guide seat mounted on the linear module, the linear module drives the guide seat to move vertically up and down, an electric clamp jaw mounted on the guide seat, a clamping groove is formed in the side wall of the pot cover and cooperates with the electric clamp jaw, and the fixed jaw is provided with a deformation part at the middle part.

[0013] As preferred, a laser range finder is further mounted at the output port of the spray gun.

[0014] As preferred, a drying room is mounted on the base.

[0015] Compared with the prior art, the automobile surface spraying device has the following beneficial effects:

[0016] 1. The two mechanical arms issue instructions, and the laser range finder on the output end detects the relative distance of the two spray guns corresponding to the vehicle frame. If there is a large error, the first motor can drive the tooth column to rotate in the tooth groove to adjust the position of the corresponding mechanical arm. After ensuring that the position error of the two spray guns reaches a specified value, the corresponding vehicle model is input, the spraying trajectory is introduced, and the two mechanical arms start symmetrical movement for spraying to ensure that the spraying effects of the two sides of the vehicle are consistent.

[0017] 2. During spraying, when the paint in the spray pot is replaced, the electric guide rail drives the linear module to move horizontally above the spray pot filled with paint, the linear module drives the electric clamp jaw with the fixed jaw to contact the pot cover, the pot cover is provided with a clamping groove corresponding to the electric clamp jaw, and the fixed jaw is closed as shown in the figure. The spray pot with used paint is taken out and placed on the standby rack, and the spray pot filled with paint is taken out and placed on the support. The second motor drives the spray pot to rotate, thereby completing the fixation of the spray pot and the replacement process of the spray pot. During this process, no personnel intervention and frequent entry and exit of the spray room are required, the operator manually replaces the pot, absorbs the paint mist in the spray room, and waits for the process, reduces the physical impact caused by the long-time operation of the operator in the spray room, designs the spray pot quick replacement structure, realizes the automatic online switching of the topcoat, color paint, and varnish in the whole vehicle spraying process, and improves the spraying efficiency.

[0018] 3. The two spray guns are equipped with different nozzles and separators to handle oil-based and water-based paints. The first nozzle is a large-diameter nozzle, designed to ensure uniform atomization and prevent clogging due to the high viscosity of oil-based paints. A centrifugal separator is selected to prevent moisture in the air from mixing in and causing blistering of the paint film. The second nozzle consists of several small-diameter nozzles, designed to improve spraying efficiency due to the characteristics of water-based paints. A high-efficiency oil-water separator is configured to ensure clean air and prevent moisture in the air from contacting the oil-based paint. Two sets of spray guns are designed, with the output end rotated by the R-axis rotation, so that the corresponding spray gun faces the vehicle frame for easy replacement, thus meeting the needs of both oil-based and water-based paints.

[0019] 4. By setting up a data center equipped with a 3D scanning module, the required 3D contour scan of the vehicle is completed in the data center. The spraying trajectory is obtained through the algorithm, and then the data is shared to each spray booth through the cloud. The spray booth only needs to be equipped with a vehicle positioning module to complete the whole vehicle spraying or car wrap repair.

[0020] Other advantages, objectives and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination or study, or may be learned from the practice of the invention. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 This is a schematic diagram of the column frame structure and the spray bottle replacement mechanism of the present invention;

[0023] Figure 3 This is a schematic diagram of the mounting plate and electric guide rail of the present invention;

[0024] Figure 4 For the present invention Figure 3 Enlarged structural diagram at point A in the middle;

[0025] Figure 5 This is a schematic diagram of the structure of the first and second electric slide rails of the present invention;

[0026] Figure 6 This is a schematic diagram of the coating mechanism structure of the present invention;

[0027] Figure 7 This is a schematic diagram of the spray bottle and support structure of the present invention;

[0028] Figure 8 This is a schematic diagram of the robotic arm output end and laser rangefinder structure of the present invention;

[0029] Figure 9 This is a schematic diagram of the structure of the present invention when both first electric slide rails are equipped with robotic arms.

[0030] Figure 10 Figure for corresponding position of mechanical arm and electric clamping jaw when replacing spray pot of the present application;

[0031] Figure 11 Structure diagram of electric clamping jaw and deformation part of the present application.

[0032] In the figure:

[0033] 1, base; 2, drying room; 3, induction area; 4, column frame structure; 401, first electric sliding rail; 402, second electric sliding rail; 403, sliding groove; 404, guide groove; 5, spray pot replacing mechanism; 501, mounting plate; 502, electric guide rail; 503, linear module; 504, guide seat; 505, electric clamping jaw; 506, second motor; 507, deformation part; 6, coating mechanism; 601, mounting seat; 602, first motor; 603, tooth column; 604, tooth groove; 605, mechanical arm; 606, output end; 607, side support; 608, spray gun; 609, separator; 610, support; 611, support seat; 612, spray pot; 613, pot cover; 614, clamping groove; 615, through hole; 616, first nozzle; 617, second nozzle; 618, laser range finder; 7, 3D camera. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0035] Please refer to Figures 1-11The application provides the following implementation: a car surface spraying device, comprising a base 1, a column frame structure 4 arranged on the base 1, and a coating mechanism 6 arranged on the column frame structure 4, wherein the column frame structure 4 comprises two first electric sliding rails 401 and a second electric sliding rail 402, the two first electric sliding rails 401 are arranged on the base 1 in a vertical center line symmetry mode, the two ends of the second electric sliding rail 402 are fixed on guide blocks of the first electric sliding rails 401 respectively, the first electric sliding rails 401 drive the second electric sliding rail 402 to move along the vertical center line, the side wall of the second electric sliding rail 402 is provided with a sliding groove 403, the sliding groove 403 is provided with a driving part and the coating mechanism 6, the driving part drives the coating mechanism 6 to reciprocate in the sliding groove 403, the top wall of the second electric sliding rail 402 is provided with a guide groove 404, a 3D camera 7 is arranged in the guide groove 404, and the second electric sliding rail 402 drives the 3D camera 7 to move in the guide groove 404; the base 1 is provided with a sensing area 3 between the two first electric sliding rails 401, which is used for detecting the position of a car in the column frame structure 4, and a spraying pot replacing mechanism 5 is further arranged on the base 1.

[0036] In the embodiment, the coating mechanism 6 comprises a mounting seat 601, the driving part comprises a first motor 602 and a tooth column 603, the output shaft of the first motor 602 is fixed with the tooth column 603, the sliding groove 403 is provided with a tooth groove 604, the tooth column 603 is connected in the tooth groove 604 in a meshing mode, the first motor 602 drives the mounting seat 601 to move in the tooth groove 604, the first motor 602 can be a servo motor, in order to cooperate with high-precision distance adjustment of the two mechanical arms 605, the tooth groove 604 and the tooth column 603 can adopt a small tooth type, cooperate with fine adjustment of the servo motor, meet the high-precision adjustment requirement of the mechanical arm 605, the tooth column 603 can be driven to rotate in the tooth groove 604 by the first motor 602, the position of the corresponding mechanical arm 605 is adjusted, after the position error of the two spraying guns 608 reaches a specified value, the corresponding vehicle model is input, the spraying track is introduced, and the two mechanical arms 605 start symmetrical movement for spraying, so that the spraying effects of the two sides of the car are consistent.

[0037] In the embodiment, the coating mechanism 6 further comprises a mechanical arm 605 mounted on the mounting seat 601, the bottom of the mechanical arm 605 is provided with an output end 606, spray guns 608 are mounted on both sides of the output end 606, respectively used for oil-based paint and water-based paint, side supports 607 are mounted on both sides of the output end 606, the output end 606 is rotatable at both ends, separators 609 are mounted on the two side supports 607, the separators 609 are mounted on the air inlets of the spray guns 608, used for spraying the oil-based paint spray gun 608, a first nozzle 616 is mounted at the output port of the oil-based paint spray gun 608, and the separator 609 is a centrifugal separator, used for spraying the water-based paint spray gun 608, a second nozzle 617 is mounted at the output port of the water-based paint spray gun 608, and the separator 609 is a centrifugal separator, the nozzles and separators 609 mounted on the two spray guns 608 are not the same, in order to cope with oil-based paint and water-based paint, the first nozzle 616 is a large-diameter nozzle (such as 1.5-1.8mm), because the viscosity of the oil-based paint is high, in order to uniformly atomize and avoid blockage, the specific model can adopt W-71 type spray gun recommended for oil-based fluorocarbon paint, the separator 609 is selected as a centrifugal separator, in order to avoid the mixing of moisture in the air to cause paint film blistering, the second nozzle 617 is composed of a plurality of small-diameter nozzles, because of the characteristics of water-based paint, the spraying efficiency is improved, the separator 609 is configured as a high-efficiency oil-water separator to ensure that the air is clean, in order to avoid the contact of moisture in the air with the oil-based paint, two sets of spray guns are designed, the rotation of the output end 606 is completed by the rotation of the R shaft, so that the corresponding spray gun 608 faces the vehicle frame, and the use is replaced, and the requirements of oil-based and water-based paint are met.

[0038] In the embodiment, the spray gun 608 side wall extends a support 610, the support 610 top end is provided with a support 611, a watering can 612 is detachably connected on the support 611, the watering can 612 is a container for containing paint, the upper end of which is provided with a detachable can cover 613, the lower end of which is provided with an external thread, the inner wall of the support 611 is provided with an internal thread, the external thread and the internal thread are engaged with each other, the bottom of the watering can 612 is provided with a discharge port, and the discharge port is provided with a discharge valve, the discharge port cooperates with the through hole 615, the tail end of the through hole 615 is arranged on the output port of the spray gun 608, and the watering can 612 and the can cover 613 are buckle type fixed, because the watering can 612 is rotatably connected with the support 611, the watering can 612 and the can cover 613 can also maintain stability when the watering can 612 is forced to rotate.

[0039] In the embodiment, the replacement of the spray can mechanism 5 comprises a mounting plate 501 fixed on the base 1, an electric guide rail 502 mounted on the mounting plate 501, a linear module 503 mounted on the electric guide rail 502, the electric guide rail 502 driving the linear module 503 to move horizontally left and right, a guide seat 504 mounted on the linear module 503, the linear module 503 driving the guide seat 504 to move vertically up and down, an electric clamping jaw 505 mounted on the guide seat 504, a clamping groove 614 formed in the side wall of the can cover 613 and matched with the fixed jaw, and a deformation part 507 provided on the fixed jaw. The deformation part 507 is specifically provided as a rubber rod. Due to the characteristics of thread rotation, when rotating, the bottom of the spray can 612 will move downward by about 3 cm. If the moving distance is matched with the movement of the linear module, a large amount of calculation will be generated to calculate the operation mode of the module. If the linear module does not move, the distance of 3 cm will cause damage to the internal mechanism of the linear module. Therefore, the rubber rod with a certain deformation elasticity is designed in the middle of the fixed jaw. When the spray can 612 descends, the elongation of the rubber rod replaces the movement of the linear module, which well solves the problems generated during the installation of the spray can 612.

[0040] In the embodiment, a laser range finder 618 is further mounted at the output port of the spray gun 608.

[0041] In the embodiment, the base 1 is provided with a drying room 2, and the spray room and the baking room are placed in parallel to improve the utilization rate of the site and realize simultaneous spraying and baking to maximize the spraying efficiency.

[0042] Working principle: the car is driven into the sensing area 3, which is specifically provided as two groups of pressure sensors corresponding to the wheels on both sides of the car. When the car completely enters the sensing area 3, an instruction is sent, and the car pulls the handbrake to prepare for painting.

[0043] Firstly, the type of paint is determined according to the requirements of the car paint, the corresponding paint is supplemented in the spray can 612, and then an instruction is sent to the mechanical arms 605 on both sides. The laser range finder 618 on the output end 606 detects the relative distance of the spray guns 608 corresponding to the frame on both sides. If there is a large error, the first motor 602 can drive the tooth column 603 to rotate in the tooth groove 604 to adjust the position of the corresponding mechanical arm 605. After ensuring that the position error of the spray guns 608 on both sides reaches the specified value, the corresponding vehicle type is input, the spraying track is introduced, and the mechanical arms 605 on both sides start to move symmetrically to spray, thereby ensuring that the spraying effects on both sides of the car paint are consistent.

[0044] When the paint in the spray pot 612 is used up and needs to be replaced during spraying, the electric guide rail 502 drives the linear module 503 to move horizontally above the spray pot 612 filled with paint, and the electric clamping jaw 505 with the opening fixed jaw contacts the pot cover 613, and the pot cover 613 is provided with a clamping groove 614 corresponding to the electric clamping jaw 505. As shown in Figure 10 , the spray pot 612 with used paint is taken out and placed on a standby rack, and the spray pot 612 filled with paint is taken out and placed on the support 611. The second motor 506 drives the spray pot 612 to rotate, thereby completing the fixing of the spray pot 612 and completing the replacement process of the spray pot. In this process, personnel intervention and frequent in-and-out operations of the spray room are not required, the operator's manual pot replacement, paint mist absorption in the spray room, and waiting process are solved, the physical impact caused by the long-time operation of the operator in the spray room is reduced, the quick replacement structure of the spray pot 612 is designed, the automatic online switching of the topcoat, color paint, and varnish in the whole vehicle spraying process is realized, and the spraying efficiency is improved.

[0045] The mechanical arm 605 is a GCR16-2000-EX model with multiple explosion-proof designs, assisted by a high-temperature protective suit, so that the mechanical arm 605 can work normally in a high-temperature environment (satisfying the use in a high-temperature environment of a baking room), and the mechanical arm 605 has four-axis changes (X, Y, Z, and R axes) to satisfy different track coating processes. The output end 606 corresponds to the Z axis, can change the alignment direction of the spray gun 608, the nozzles and separators 609 installed on the two spray guns 608 are different to cope with oil-based paint and water-based paint, the first nozzle 616 is a large-diameter nozzle (such as 1.5-1.8 mm), because the oil-based paint has high viscosity, uniform atomization is achieved and clogging is avoided, the specific model can use W-71 type spray gun recommended for oil-based fluorocarbon paint, and the separator 609 is a centrifugal separator to avoid water in the air from mixing to cause blistering of the paint film. The second nozzle 617 is composed of a plurality of small-diameter nozzles, because of the characteristics of water-based paint, the spraying efficiency is improved, the separator 609 is configured as a high-efficiency oil-water separator to ensure clean air and avoid water in the air from contacting the oil-based paint. Two sets of spray guns are designed, the rotation of the output end 606 is completed through the R-axis rotation, the corresponding spray gun 608 faces the frame, and the use is replaced, and the requirements of oil-based and water-based paint are satisfied.

[0046] The hand-eye coordinate transformation matrix is calculated through multiple pose data, and the mapping relationship between the robot arm coordinate system and the camera coordinate system is established to obtain a global unified coordinate transformation matrix. The multiple pose data includes multiple pose parameters of the robot arm end effector (first pose parameters) and pose parameters of the calibration object detected by the 3D point cloud camera (second pose parameters). According to the point cloud data (including spatial coordinates and normal vector information) of the adjacent overlapping area, the feature point pairs are extracted from the point cloud based on the sampling consistency algorithm (such as the random sample consensus algorithm), and the initial transformation matrix is quickly estimated to align the approximate position. Through the iterative closest point (ICP) algorithm, the accurate transformation matrix between adjacent point clouds is calculated, the seamless splicing of high-density point clouds is completed, and the complete vehicle body point cloud data (including a three-dimensional coordinate set of all scanning areas) is obtained.

[0047] According to the point cloud data filtering and plane detection results, statistical filtering or voxel grid filtering is adopted to remove outliers ("early points") and retain effective point clouds. Based on the random sample consensus (RANSAC) algorithm, plane features are extracted from the point cloud, and the angle R (normal vector direction) and center coordinates (plane geometric center) of each plane are calculated to obtain structured point cloud data (grouped by plane, each group containing plane angle R, center coordinates and belonging point set).

[0048] According to the point cloud slice and initial point set, the center coordinates are taken as the reference, and each group of point clouds is equally sliced along the robot arm motion direction (such as Z axis). The outline boundary points of each slice are extracted, and their X, Y and Z coordinates are obtained. The coordinates of each slice are combined with the corresponding plane angle R to form an initial trajectory point array

X, Y, Z, R

[0049] According to the initial trajectory point set (including order, coordinates and angle parameters), the order of each trajectory point, the X / Y / Z coordinate offset and the R angle are taken as gene positions, and are encoded into chromosomes (such as the permutation combination of point set order and parameter vector). The fitness is sorted, and the top N% of high-quality chromosomes are retained. The selected chromosomes are subjected to point set order crossover (such as partial matching crossover) and parameter mixing, and the point set order or R angle is randomly adjusted (within ±5% range). New solutions are introduced, and the above steps are repeated until the fitness value converges (path length, angle fluctuation and other indicators no longer significantly improve). An optimized trajectory point set (optimal or suboptimal point sequence arrangement and parameter combination) is obtained.

[0050] The specific calculation process of the above fitness value is as follows:

[0051] According to the order of the trajectory points coded by the chromosome, all adjacent point pairs are traversed in turn, and for each adjacent point pair, the spatial straight-line distance between the two points is calculated according to their three-dimensional coordinates (X, Y, Z). The specific method is as follows: take the coordinate difference of the two points in the X, Y, and Z directions, square each, add them together, and then take the square root of the result to obtain the single-step distance value. The single-step distance values of all adjacent point pairs are added up to obtain the total path length corresponding to the chromosome. The shorter the total path length, the higher the efficiency of the robot arm movement. According to the same order of the trajectory points, all adjacent point pairs are traversed, and for each adjacent point pair, the difference in R angle (the angle of the current point minus the angle of the previous point) is calculated and the absolute value is taken to avoid positive and negative cancellation. The absolute values of the R angle changes of all adjacent point pairs are added up to obtain the total angle fluctuation. The smaller the angle fluctuation, the smoother the change in the pose of the robot arm, and the more stable the spraying quality. The path length and the angle fluctuation are normalized. Specifically, in the current population, the maximum path length and the maximum angle fluctuation value are found, and the path length and the angle fluctuation of each chromosome are divided by the corresponding maximum value to scale them to the interval of 0 to 1. According to the actual requirements, weights are assigned to the two indicators (for example, the path length accounts for 60% and the angle fluctuation accounts for 40%). The normalized path length is multiplied by weight 1, and the normalized angle fluctuation is multiplied by weight 2. The sum of the two gives the comprehensive fitness value. If it is necessary to prioritize the optimization of a certain indicator, the weight ratio can be adjusted. For example, if shortening the path is more important, the weight of the path length can be increased to 70% or more.

[0052] According to the optimized trajectory point set (containing the

X, Y, Z, R

[0053] It is obvious to those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, but can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be regarded as exemplary and non-limiting, and the scope of the present application is defined by the appended claims rather than the above description, and all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application.

Claims

1. An automotive surface spraying device, comprising a base, a column frame structure mounted on the base, and a coating mechanism mounted on the column frame structure, characterized in that: The column frame structure includes two first electric slide rails and a second electric slide rail. The two first electric slide rails are symmetrically distributed on the base with respect to the vertical center line of the base. The two ends of the second electric slide rail are respectively fixed to the guide blocks of the first electric slide rail. The first electric slide rail drives the second electric slide rail to move along the vertical center line. The side wall of the second electric slide rail has a groove, and a drive unit and a painting mechanism are installed in the groove. The drive unit drives the painting mechanism to reciprocate in the groove. The top wall of the second electric slide rail has a guide groove, and a 3D camera is installed in the guide groove. The second electric slide rail drives the 3D camera to move in the guide groove. The base is located between the two first electric slide rails and has a sensing area for detecting the position of the car within the column frame structure. The base is also equipped with a spray bottle replacement mechanism. The coating mechanism includes a mounting base, and the driving unit includes a first motor and a gear column. The output shaft of the first motor is fixed with the gear column, and a tooth groove is provided in the slide groove. The gear column is meshed with the tooth groove, and the first motor drives the mounting base to move in the tooth groove. The coating mechanism also includes a robotic arm, which is mounted on a mounting base. The bottom of the robotic arm has an output end, and spray guns are mounted on both sides of the output end for oil-based coatings and water-based coatings, respectively. Side brackets are installed on both sides of the output end, and both ends of the output end can rotate. Separators are installed on both side brackets, and the separators are installed on the air inlet of the spray gun. The spray gun for spraying oil-based coatings has a first nozzle installed at its output port, and the separator is specifically an oil-water separator; the spray gun for spraying water-based coatings has a second nozzle installed at its output port, and the separator is specifically a centrifugal separator. The spray gun has a support extending from its side wall, and the support has a base at its top. A spray bottle is detachably connected to the base. The spray bottle is a container for holding paint. It has a detachable cap at its upper end and an external thread at its lower end. The inner wall of the base has an internal thread. The external thread and the internal thread mesh with each other. The bottom of the spray bottle has a discharge port, and a discharge valve is provided at the discharge port. The discharge port cooperates with a through hole. The tail end of the through hole is located at the output port of the spray gun. The spray bottle replacement mechanism includes a mounting plate fixed to a base. An electric guide rail is mounted on the mounting plate, and a linear module is mounted on the electric guide rail. The electric guide rail drives the linear module to move horizontally left and right. A guide seat is mounted on the linear module, and the linear module drives the guide seat to move vertically up and down. An electric gripper is mounted on the guide seat, and the electric gripper has several fixed claws. A slot is provided on the side wall of the spray bottle lid to cooperate with the fixed claws. A deformation part is provided in the middle of the fixed claw. A laser rangefinder is also installed at the output port of the spray gun.

2. The automotive surface spraying device according to claim 1, characterized in that: A drying chamber is installed on the base.

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